CN109172060B - Prosthetic hand of upper limb prosthetic - Google Patents
Prosthetic hand of upper limb prosthetic Download PDFInfo
- Publication number
- CN109172060B CN109172060B CN201811048805.8A CN201811048805A CN109172060B CN 109172060 B CN109172060 B CN 109172060B CN 201811048805 A CN201811048805 A CN 201811048805A CN 109172060 B CN109172060 B CN 109172060B
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- thumb
- bevel gear
- finger
- shaft
- gear
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- 210000001364 upper extremity Anatomy 0.000 title claims abstract description 17
- 210000003813 thumb Anatomy 0.000 claims abstract description 247
- 210000003811 finger Anatomy 0.000 claims abstract description 201
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 210000003414 extremity Anatomy 0.000 claims abstract description 5
- 210000005224 forefinger Anatomy 0.000 claims abstract 4
- 210000000811 metacarpophalangeal joint Anatomy 0.000 claims description 42
- 239000003638 chemical reducing agent Substances 0.000 claims description 35
- 210000004932 little finger Anatomy 0.000 claims description 30
- 210000000707 wrist Anatomy 0.000 claims description 3
- 210000003857 wrist joint Anatomy 0.000 claims description 3
- 210000001145 finger joint Anatomy 0.000 abstract description 9
- 230000001360 synchronised effect Effects 0.000 abstract description 8
- 239000011664 nicotinic acid Substances 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 8
- 238000005452 bending Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005057 finger movement Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/586—Fingers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
- A61F2/58—Elbows; Wrists ; Other joints; Hands
- A61F2/583—Hands; Wrist joints
- A61F2/586—Fingers
- A61F2002/587—Thumbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors
Landscapes
- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Biomedical Technology (AREA)
- Cardiology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Prostheses (AREA)
Abstract
The application discloses prosthetic hand of upper limbs artificial limb, including four-finger, thumb, palm, four-finger, thumb set up on the palm, the forefinger includes: the palm-finger joint, the near-end finger joint and the far-end finger joint are sequentially connected in series and are mutually hinged, the index finger fixing shaft is fixed on a palm, the index finger fixing shaft is rotationally installed and rotationally installed to drive the bevel gear, the bevel gear is fixedly installed, the driving mechanism of the index finger driving bevel gear is arranged on the palm, the bevel gear is fixedly installed to be driven by rotation of the next-stage bevel gear, the synchronous movement of the index finger three joints is realized through the rotating bevel gear driving and the fixed bevel gear driving, the thumb driving is arranged on the palm, the structure of the thumb is less than that of the index finger structure by one-stage knuckle driving, gears in the thumb and the index finger are bevel gear structures with 120-degree central angle, no collision occurs between the bevel gears which are not meshed with each other, and the bionic movement function of the prosthetic hand is realized.
Description
Technical Field
The invention relates to a bionic hand, in particular to an upper limb prosthetic hand for disabled people.
Background
People with disabled upper limbs want to install artificial limbs, can change biochemical quality and even take part in the work, but the existing artificial hand is high in price on one hand, and the other side of the existing artificial hand is driven by a connecting rod or a stay wire through a mechanical structure, so that the long-term use effect is not ideal. Because the efficiency of the link mechanism is low, the storage of the artificial limb mobile power supply is large, the weight of the power supply is increased, and on the other hand, the speed change of the link mechanism is irregular, so that the finger movement is controlled with certain difficulty. After the stay wire mechanism is used for a long time, the stay wire is loosened, maintenance is needed, and the reset spring is easy to break.
The motor is adopted to drive the sector bevel gear with the 120-degree central angle to drive the metacarpophalangeal joint to move, and meanwhile, the fixed bevel gear is adopted to drive the bevel gear on the metacarpophalangeal joint to rotate, and three times of transmission are adopted in the mode, so that the synchronous movement of three knuckles of fingers is realized; all the finger joints adopt gear transmission mechanisms, the finger bending and stretching movement is stable, and the speed change of each finger joint is uniform; the driving structure of the thumb and the index finger is basically the same, and the thumb is less than the index finger by one knuckle for transmission; the four fingers and the thumb are driven by separate motors, so that flexible movement of the prosthetic hand is realized; the palm part accommodates four-finger motor speed reducers and one thumb motor speed reducer, and the space is unreasonable and reasonable; the sector bevel gears with 120-degree central angle are meshed, adjacent bevel gears cannot collide, and the structure is ingenious.
Disclosure of Invention
The invention aims at: a prosthetic hand with four fingers (index finger, middle finger, ring finger and little finger) and thumb driven by sector bevel gears and independent motor is provided.
Disclosure of Invention
The purpose of the invention is realized in the following way: the utility model provides a prosthetic hand of upper limbs artificial limb, includes index finger 1, middle finger 2, ring finger 3, little finger 4, thumb 5, palm 6, index finger 1, middle finger 2, ring finger 3, little finger 4, thumb 5 set up on palm 6, index finger 1, middle finger 2, ring finger 3, little finger 4 have the same structure, index finger 1 include: the metacarpophalangeal joint 101, the proximal metacarpophalangeal joint 102, the distal metacarpophalangeal joint 103, the metacarpophalangeal joint 101, the proximal metacarpophalangeal joint 102 and the distal metacarpophalangeal joint 103 are in a U-shaped structure, the opening edges of the U-shaped are horizontally arranged along the front and back directions towards the left side, the upper and lower sides of the U-shaped of the rear end of the metacarpophalangeal joint 101 are respectively fixed with the upper end and the lower end of the index finger fixing shaft 107, the upper part of the index finger fixing shaft 107 is rotatably provided with an index finger driving bevel gear 108, the index finger driving bevel gear 108 is fixed on the upper side of the metacarpophalangeal joint 101, the lower part of the index finger fixing shaft 107 is fixed with a bevel gear eighth 125, the bevel gear eighth 125 is meshed with a bevel gear seventh 124, the bevel gear seventh 124 is fixed on the rear end of the index finger shaft one 126, the metacarpophalangeal joint 101 is provided with a rotary support of the index finger shaft one 126, the bevel gear one 110 is fixed on the front end of the index finger shaft one 126, the bevel gear one 110 is meshed with the bevel gear sixth 122, the bevel gear six 122 is fixed on the first lower hinge shaft 121, the first lower hinge shaft 121 is rotationally connected with the front end of the lower side edge of the metacarpophalangeal joint 101, the first lower hinge shaft 121 is fixed on the rear end of the lower side edge of the proximal phalangeal joint 102, the rotation of the first upper hinge shaft 111 is connected with the rear end of the upper side edge of the proximal phalangeal joint 102, the first hinge shaft 111 is fixed on the front end of the upper side edge of the metacarpophalangeal joint 101 and the second bevel gear 112, the second bevel gear 112 is meshed with the fifth bevel gear 120, the fifth bevel gear 120 is fixed on the rear end of the second index shaft 113, the rotation support of the second index shaft 113 is arranged on the proximal phalangeal joint 102, the fourth bevel gear 117 is meshed with the third bevel gear 115, the third bevel gear 115 is fixed on the second upper hinge shaft 114, the second upper hinge shaft 114 is rotationally connected with the front end of the upper side edge of the proximal phalangeal joint 102, the second hinge shaft 114 is fixed on the rear end of the upper side edge of the distal phalangeal joint 103, the rear end of the lower side of the distal knuckle 103 is hinged with the front end of the lower side of the proximal knuckle 102 by a second lower hinge shaft 116;
the upper hinge shaft II 114 and the lower hinge shaft II 116 are coaxial, and the upper hinge shaft I111 and the lower hinge shaft I121 are coaxial;
the index finger drives the bevel gear 108, the first bevel gear 110, the second bevel gear 112, the third bevel gear 115, the fourth bevel gear 117, the fifth bevel gear 120, the sixth bevel gear 122, the seventh bevel gear 124 and the eighth bevel gear 125 to have the same modulus and the same tooth number, and are all sector bevel gears with the central angle of 120 degrees;
the palm 6 is provided with a driving mechanism for driving the bevel gear 108 by an index finger, and the index finger fixing shaft 107 is fixed on the palm.
The thumb 5 comprises: the thumb palm knuckle 501 and the thumb far-end knuckle 502 are of a U-shaped structure, the opening edges of the U-shaped structure face to the left, two parallel edges or opposite edges of the U-shaped structure are arranged along the up-down direction, the front and rear edges of the lower end of the thumb palm knuckle 501 are respectively fixed with the front end and the rear end of the thumb fixing shaft 505, the rear part of the thumb fixing shaft 505 is rotatably provided with a thumb driving gear 506, the thumb driving gear 506 is fixed on the rear side edge of the thumb palm knuckle 501, the front part of the thumb fixing shaft 505 is provided with a thumb gear IV 514, the thumb gear IV 514 is meshed with a thumb gear IV 507, the thumb gear IV 507 is fixed at the lower end of a thumb shaft 513, the thumb palm knuckle 501 is provided with a rotary support of the thumb shaft 513, the thumb gear II 508 is meshed with a thumb gear III 510, the thumb gear III 510 is fixed on a thumb lower hinge shaft 511, the thumb lower hinge shaft 511 is fixed with the lower end of the front side edge of the thumb far-end knuckle 502, the front end of the thumb lower hinge shaft 511 is rotatably connected with the front end of the thumb shaft 511, and the rear end of the thumb shaft 511 is hinged with the thumb shaft 509 on the side edge of the upper side edge of the thumb palm knuckle 509;
the thumb drive gear 506, the thumb gear one 507, the thumb gear two 508, the thumb gear three 510 and the thumb gear four 514 have the same tooth number and are all sector bevel gears with a central angle of 120 degrees;
the palm 6 is provided with a driving mechanism of a thumb driving gear 506, and a thumb fixing shaft 505 is fixed on the palm 6.
The driving mechanism provided with the index finger driving bevel gear 108 on the palm 6 has the structure that: the palm 6 includes: the four-finger motor speed reducer 602 and the hand frame 606, the front end of the hand frame 606 is provided with an index finger fixing plate 607, a middle finger fixing plate 608, a ring finger fixing plate 609 and a little finger fixing plate 610, the index finger fixing plate 607, the middle finger fixing plate 608, the ring finger fixing plate 609 and the little finger fixing plate 610 are respectively fixed on the index finger fixing shaft 107, the middle finger fixing shaft, the ring finger fixing shaft and the little finger fixing shaft, the four-finger motor speed reducer 602 is fixed on the hand frame 606, the four-finger motor speed reducers 602 are sequentially arranged from top to bottom, and the output shafts are horizontally arranged along the front and back directions, each four-finger motor is fixed with a four-finger bevel gear 605, and the four-finger bevel gear 605 is respectively meshed with the index finger driving bevel gear 108, the middle finger driving bevel gear, the ring finger driving bevel gear and the little finger driving bevel gear for driving the index finger, the middle finger, the ring finger and the little finger.
The driving mechanism of the thumb driving gear 506 arranged on the palm 6 has the structure that: the palm 6 also comprises a thumb motor speed reducer 601 and a thumb power gear 615, the upper end in the middle of the hand frame 606 is provided with a thumb fixing plate 611, the thumb fixing plate 611 is provided with a thumb fixing shaft 505, the thumb motor speed reducer 601 is fixed on the hand frame 606, an output shaft of the thumb motor speed reducer 601 is arranged along the vertical direction, the thumb motor speed reducer 601 is positioned at the rear side of the four-finger motor speed reducer 602, a belt pulley I614 is fixed on the output shaft of the thumb motor speed reducer 601, the belt pulley I614 and a belt pulley II 618 form belt transmission through a synchronous belt 603, the belt pulley II 618 is fixed at the lower end of a belt pulley shaft 617, the middle of the belt pulley shaft 617 is rotatably arranged on a belt pulley shaft support 616, the right end of the belt pulley shaft support 616 is fixed on the hand frame 606, the upper end of the belt pulley shaft 617 is provided with a thumb power gear 615, the thumb power gear 615 is meshed with a thumb driving gear 506, and the thumb power gear 615 is a sector bevel gear with a central angle of 120 degrees.
The four-finger bevel gear 605 is engaged with the index finger drive bevel gear 108, the middle finger drive bevel gear, the ring finger drive bevel gear, the little finger drive bevel gear, and the bevel gear eight 125 and the bevel gear seven 124, the bevel gear one 110 and the bevel gear five 120, the bevel gear two 112 and the bevel gear five 120, the bevel gear three 115 and the bevel gear four 117, the thumb gear four 514 and the thumb gear two 508 and the thumb gear three 510 on the index finger 1, respectively, all have 90 degrees of intersection angles.
The angle of intersection of thumb power gear 615 and thumb drive gear 506 is between 120 degrees and 135 degrees.
The index finger fixing plate 607, the middle finger fixing plate 608, the ring finger fixing plate 609, the little finger fixing plate 610 and the thumb fixing plate 611 are two vertical plates extending leftwards, the structure is the same, mounting holes are formed in the two vertical plates, after the front side and the rear side of the index finger fixing shaft 107 pass through the thumb metacarpal joint 501, the upper mounting holes and the lower mounting holes of the index finger fixing plate 607 are respectively used for fixing the upper end and the lower end of the middle finger fixing shaft, the upper mounting hole and the lower mounting hole of the ring finger fixing plate 609 are respectively used for fixing the upper end and the lower end of the ring finger fixing shaft, the upper mounting hole and the lower mounting hole of the little finger fixing plate 610 are respectively used for fixing the upper end and the lower end of the little finger fixing shaft, and the two mounting holes of the thumb fixing plate 611 are respectively used for fixing the front end and the rear end of the thumb fixing shaft 505.
The index finger 1 further comprises a distal guard plate 104, a proximal guard plate 105 and a metacarpophalangeal guard plate 106, and the thumb 5 further comprises: the thumb distal guard plate 503 and the thumb metacarpophalangeal guard plate 504, the metacarpophalangeal joints 101, the proximal finger joints 102 and the U-shaped opening edges of the distal finger joints 103 respectively fix the metacarpophalangeal guard plate 106, the proximal guard plate 105 and the distal guard plate 104, and the thumb metacarpophalangeal joint 501 and the U-shaped opening edges of the thumb distal finger joint 502 respectively fix the thumb metacarpophalangeal guard plate 504 and the thumb distal guard plate 503.
The palm 6 further includes a palm guard 619 and a back guard 620, and the front side and the back side of the hand frame 606 are respectively fixed with the palm guard 619 and the back guard 620.
The back end of the hand frame 606 is provided with two wrist connecting plates 612 extending backwards for connecting with wrist joints.
Compared with the prior art, the invention has the following advantages:
1. a motor is adopted to drive a sector bevel gear with a 120-degree central angle to drive the metacarpophalangeal joint to move, and a fixed bevel gear is adopted to drive the bevel gear on the metacarpophalangeal joint to rotate, and three times of transmission are adopted in the mode, so that the synchronous movement of three knuckles of fingers is realized;
2. all the finger joints adopt gear transmission mechanisms, the finger bending and stretching movement is stable, and the speed change of each finger joint is uniform;
3. the driving structure of the thumb and the index finger is basically the same, and the thumb is less than the index finger by one knuckle for transmission; the four fingers and the thumb are driven by separate motors, so that flexible movement of the prosthetic hand is realized;
4. the palm part accommodates four-finger motor speed reducers and one thumb motor speed reducer, and the space is unreasonable and reasonable;
5. the sector bevel gears with 120-degree central angle are meshed, adjacent bevel gears cannot collide, and the structure is ingenious.
Drawings
Fig. 1 is a general construction diagram of a prosthetic hand of an upper limb prosthesis.
Figure 2 is a general block diagram of the index finger of the prosthetic hand.
Figure 3 is a diagram showing the internal transmission structure of the index finger of the prosthetic hand.
Figure 4 is a diagram of the transmission structure of the back half of the index finger of the prosthetic hand.
Figure 5 is a diagram of the front half transmission of the index finger of the prosthetic hand.
Fig. 6 is a second general construction diagram of the prosthetic hand of the upper limb prosthesis.
Fig. 7 is a schematic view of the structure of the index finger fixed on the hand frame.
Fig. 8 is a schematic structural view of the hand rest.
Fig. 9 is a general structural view of the thumb.
Fig. 10 is a diagram of the thumb internal drive configuration.
Fig. 11 is a structural view of the thumb fixed to the hand rest.
Fig. 12 is a schematic view of the thumb flexion and extension driving structure.
Fig. 13 is a general construction diagram of a prosthetic hand of the upper limb prosthesis.
Reference numerals: 1-index finger, 2-middle finger, 3-ring finger, 4-little finger, 5-thumb, 6-palm, 101-metacarpophalangeal joint, 102-proximal phalangeal joint, 103-distal phalangeal joint, 104-distal guard, 105-proximal guard, 106-metacarpophalangeal guard, 107-index finger fixed shaft, 108-index finger drive bevel gear, 109-shaft support one, 110-bevel gear one, 111-upper hinge shaft one, 112-bevel gear two, 113-index finger shaft two, 114-upper hinge shaft two, 115-bevel gear three, 116-lower hinge shaft two, 117-bevel gear four, 118-shaft support four, 119-shaft support three, 120-bevel gear five, 121-lower hinge shaft one, 122-bevel gear six, 123-index finger shaft one, 124-bevel gear seven, and so on eight 125-bevel gears, 601-thumb motor reducer, 602-four-finger motor reducer, 603-synchronous belt, 604-four-finger motor bracket, 605-four-finger bevel gear, 606-hand frame, 607-index finger fixing plate, 608-middle finger fixing plate, 609-ring finger fixing plate, 610-little finger fixing plate, 611-thumb fixing plate, 612-wrist connecting plate, 613-thumb motor frame, 614-pulley one, 615-thumb drive gear, 616-pulley shaft support, 617-pulley shaft, 618-pulley two, 619-palm guard, 620-back guard, 501-thumb metacarpal knuckle, 502-thumb distal knuckle, 503-thumb distal guard, 504-thumb metacarpal guard, and back guard, 505-thumb fixed shaft, 506-thumb drive gear, 507-thumb gear one, 508-thumb gear two, 509-thumb upper hinge shaft, 510-thumb gear three, 511-thumb lower hinge shaft, 512-thumb shaft support, 513-thumb shaft, 514-thumb gear four.
Description of the embodiments
Referring to fig. 1 to 13, the prosthetic hand of the upper limb prosthetic of the present invention includes an index finger 1, a middle finger 2, a ring finger 3, a little finger 4, a thumb 5, and a palm 6, wherein the index finger 1, the middle finger 2, the ring finger 3, the little finger 4, and the thumb 5 are disposed on the palm 6, the index finger 1 is defined as a front direction away from the palm, and is a rear direction, the directions in which the index finger 1 and the little finger 4 are disposed are respectively defined as an upper direction and a lower direction, the bendable direction of the index finger 1 is defined as a left side, and the deployable direction of the index finger 1 is defined as a right side, so as to describe the present invention, and since the index finger 1, the middle finger 2, the ring finger 3, and the little finger 4 have the same structure, the present invention replaces and indicates the structures of the index finger 2, the ring finger 3, and the little finger 4 by the description of the index finger 1, which includes: the metacarpophalangeal joint 101, the proximal phalangeal joint 102, the distal phalangeal joint 103, the distal guard 104, the proximal guard 105, the metacarpophalangeal guard 106, the index finger fixing shaft 107, the index finger driving bevel gear 108, the first shaft support 109, the first bevel gear 110, the first upper hinge shaft 111, the second bevel gear 112, the second index finger shaft 113, the second upper hinge shaft 114, the third bevel gear 115, the second lower hinge shaft 116, the fourth bevel gear 117, the fourth shaft support 118, the third shaft support 119, the fifth bevel gear 120, the first lower hinge shaft 121, the sixth bevel gear 122, the second shaft support 123, the seventh bevel gear 124, the eighth bevel gear 125 and the first index finger shaft 126, the metacarpophalangeal joint 101, the proximal phalangeal joint 102 and the distal phalangeal joint 103 are all in a U-shaped structure, the opening edges of the U-shaped are horizontally arranged towards the front and back sides of the two parallel edges of the U-shaped are respectively fixed at the upper end and the lower end of the index finger fixing shaft 107, the upper part of the index finger fixing shaft 107 is rotatably provided with an index finger driving bevel gear 108, the index finger driving bevel gear 108 is fixed on the upper side edge of two parallel edges of the U-shaped of the metacarpophalangeal joint 101, the lower part of the index finger fixing shaft 107 is fixedly provided with a bevel gear eight 125, the bevel gear eight 125 is meshed with a bevel gear seven 124, the bevel gear seven 124 is fixed on the rear end of an index finger shaft I126, the front and rear parts of the index finger shaft I126 are rotatably respectively arranged in the inner holes of the upper ends of a shaft support II 123 and a shaft support I109, the lower ends of the shaft support II 123 and the shaft support I109 are fixed on the metacarpophalangeal joint 101, the bevel gear I110 is fixed on the front end of the index finger shaft I126, the bevel gear I110 is meshed with a bevel gear six 122, the bevel gear six 122 is fixed on the upper end of a lower hinge shaft I121, the middle part of the lower hinge shaft I121 is rotatably connected with the front end of the lower side edge of the two parallel edges of the U-shaped of the metacarpophalangeal joint 101, the lower end of the lower hinge shaft one 121 is fixed at the rear end of the lower side edges of the U-shaped two parallel sides of the proximal knuckle 102, the upper end of the upper hinge shaft one 111 is rotatably connected with the rear end of the upper side edges of the U-shaped two parallel sides of the proximal knuckle 102, the middle part of the hinge shaft one 111 is fixed at the front end of the upper side edges of the U-shaped two parallel sides of the metacarpophalangeal knuckle 101, the lower end of the hinge shaft one 111 is fixed at the bevel gear two 112, the bevel gear two 112 is meshed with the bevel gear five 120, the bevel gear five 120 is fixed at the rear end of the index finger shaft two 113, the front and rear ends of the index finger shaft two 113 are rotatably mounted in the upper inner holes of the shaft support four 118 and the shaft support three 119, the shaft support four 118 and the lower end of the shaft support three 119 are fixedly arranged on the proximal knuckle 102, the front end of the bevel gear four 117 is meshed with the bevel gear three 115, the bevel gear three 115 is fixedly arranged at the lower end of the index finger shaft two 114, the upper end of the upper hinge shaft two 114 is rotatably connected with the front end of the upper side edges of the U-shaped two parallel sides of the proximal knuckle 102, the front end 103 is rotatably connected with the front end of the upper side edges of the U-shaped two parallel sides of the upper knuckle 102, and the rear end 103 is hinged with the front end of the rear end of the upper side edges of the upper knuckle two parallel sides of the U-shaped two parallel sides of the upper knuckle 103, and the front end of the rear knuckle 103 is rotatably fixed at the front end of the upper side of the upper knuckle 116.
The upper hinge shaft two 114 and the lower hinge shaft two 116 are coaxial, and the upper hinge shaft one 111 and the lower hinge shaft one 121 are coaxial.
The index finger drives the bevel gear 108, the first bevel gear 110, the second bevel gear 112, the third bevel gear 115, the fourth bevel gear 117, the fifth bevel gear 120, the sixth bevel gear 122, the seventh bevel gear 124 and the eighth bevel gear 125 to have the same modulus and the same tooth number, and are all fan-shaped bevel gears with the central angle of 120 degrees, and the rotation limit angle between the connected joints is 90 degrees, so that the mutually meshed gears are guaranteed to rotate by 90 degrees, meanwhile, collision between the adjacent bevel gears which are not meshed is prevented, and the axis intersection angle between the mutually meshed bevel gears is 90 degrees.
The U-shaped opening edges of the metacarpophalangeal joint 101, the proximal phalangeal joint 102 and the distal phalangeal joint 103 are respectively fixed with a metacarpophalangeal guard plate 106, a proximal guard plate 105 and a distal guard plate 104, and are used for closing the U-shaped opening edges. The thumb 5 comprises: thumb metacarpophalangeal joint 501, thumb distal end knuckle 502, thumb distal end backplate 503, thumb metacarpophalangeal backplate 504, thumb fixed axle 505, thumb drive gear 506, thumb gear one 507, thumb gear two 508, thumb upper articulated shaft 509, thumb gear three 510, thumb lower articulated shaft 511, thumb shaft support 512, thumb shaft 513, thumb gear four 514, thumb metacarpophalangeal joint 501, thumb distal end knuckle 502 all be "U" shape structure to "U" shape opening limit all faces the left side, two parallel edges of "U" shape are along the upper and lower direction setting. The two parallel sides of the U-shaped lower end of the thumb palm knuckle 501 are respectively fixed at the front and rear parts of the thumb fixing shaft 505, the rear part of the thumb fixing shaft 505 is rotatably provided with a thumb driving gear 506, the thumb driving gear 506 is fixed at the rear side of the U-shaped lower hinge shaft 511, the front part of the thumb fixing shaft 505 is fixed with a thumb gear four 514, the thumb gear four 514 is meshed with a thumb gear one 507, the thumb gear one 507 is fixed at the lower end of the thumb shaft 513, the upper and lower parts of the thumb shaft 513 are respectively rotatably arranged in the inner holes of two thumb shaft supports 512, the thumb shaft supports 512 are fixed on the thumb palm knuckle 501, the thumb gear two 508 is fixed at the upper end of the thumb shaft 513, the thumb gear two 508 is meshed with a thumb gear three 510, the thumb gear three 510 is fixed at the rear end of the U-shaped lower hinge shaft 511, the front end of the thumb lower hinge shaft 511 is rotatably connected with the upper side of the U-shaped lower hinge shaft 501 of the thumb knuckle, and the upper side of the thumb shaft 509 is hinged with the upper side of the thumb shaft 509 of the thumb palm knuckle by the upper side of the lower hinge shaft 509.
The thumb drive gear 506, the thumb gear one 507, the thumb gear two 508, the thumb gear three 510 and the thumb gear four 514 have the same tooth number and are all sector bevel gears with the central angle of 120 degrees, and the rotation limit angle between the mutually connected joints is 90 degrees, so that the mutually meshed gears are guaranteed to rotate by 90 degrees, meanwhile, the collision between the adjacent bevel gears which are not meshed is prevented, and the axial intersection angle between the mutually meshed bevel gears is 90 degrees.
The U-shaped opening edges of the thumb metacarpal knuckle 501 and the thumb distal knuckle 502 are respectively fixed with a thumb metacarpal guard plate 504 and a thumb distal guard plate 503, and are used for sealing the U-shaped openings of the thumb metacarpal knuckle 501 and the thumb distal knuckle 502.
The palm 6 includes: the thumb motor speed reducer 601, the four-finger motor speed reducer 602, the synchronous belt 603, the four-finger motor support 604, the four-finger bevel gear 605, the hand frame 606, the thumb motor frame 613, the belt pulley one 614, the thumb power gear 615, the belt pulley shaft support 616, the belt pulley 617, the belt pulley two 618, the palm guard 619 and the back guard 620, wherein the front end of the hand frame 606 is sequentially provided with an index finger fixing plate 607, a middle finger fixing plate 608, a ring finger fixing plate 609, a little finger fixing plate 610 and the middle upper end of the hand frame 606 from top to bottom, a thumb fixing plate 611 is arranged at the middle upper end of the index finger fixing plate 607, the middle finger fixing plate 608, the ring finger fixing plate 609, the little finger fixing plate 610 and the thumb fixing plate 611 are two vertical plates extending leftwards, mounting holes are formed in the two vertical plates, the upper mounting hole and the lower mounting hole of the index finger fixing plate 607 are respectively fixed at the upper end and the lower end of the index finger fixing shaft 107, the upper mounting hole and the lower mounting hole of the middle finger fixing plate 608 are respectively fixed at the upper end and the lower mounting hole of the ring finger fixing shaft respectively, the upper end of the lower fixing shaft respectively fixed shaft of the ring finger fixing plate 610 and the lower fixing hole of the lower fixing shaft respectively are fixed at the two ends of the upper end of the fixed finger fixing shaft respectively.
Four-finger motor speed reducers 602 are respectively fixed on a four-finger motor support 604, the four-finger motor support 604 is fixed on a hand frame 606, the four-finger motor speed reducers 602 are sequentially arranged from top to bottom, an output shaft is horizontally arranged along the front-back direction, each four-finger motor is respectively fixed with a four-finger bevel gear 605, and the four-finger bevel gears 605 are respectively meshed with the index finger driving bevel gear 108, the middle finger driving bevel gear, the ring finger driving bevel gear and the small finger driving bevel gear on the index finger 1 for driving the index finger, the middle finger, the ring finger and the small finger to bend and stretch.
The thumb motor speed reducer 601 is fixed on the thumb motor frame 613, the thumb motor frame 613 is fixed on the hand frame 606, the output shaft of the thumb motor speed reducer 601 is arranged along the vertical direction, the thumb motor speed reducer 601 is positioned at the rear side of the four-finger motor speed reducer 602, the output shaft of the thumb motor speed reducer 601 is fixedly provided with a first belt wheel 614, the first belt wheel 614 and a second belt wheel 618 form belt transmission through a synchronous belt 603, the second belt wheel 618 is fixed at the lower end of a belt wheel shaft 617, the middle part of the belt wheel shaft 617 is rotatably arranged in an inner hole at the left end of the belt wheel shaft support 616, the right end of the belt wheel shaft support 616 is fixed on the hand frame 606, the upper end of the belt wheel shaft 617 is fixedly provided with a thumb power gear 615, the thumb power gear 615 is meshed with the thumb drive gear 506, and the intersection angle of the thumb power gear 615 and the thumb drive gear 506 is 120-135 degrees, for example 120 degrees.
The thumb power gear 615 is a sector bevel gear with a central angle of 120 degrees, and the thumb power gear 615 has the same number of teeth as the thumb drive gear 506 and is a sector bevel gear with a central angle of 120 degrees.
The front and rear sides of the hand frame 606 are respectively fixed with a palm guard 619 and a back guard 620.
The back end of the hand frame 606 is provided with two wrist connecting plates 612 extending backwards for connecting with wrist joints.
The motor is connected with the control system, and a person skilled in the art can control and drive the motors, and can control the flexion and extension of four fingers (index finger, middle finger, ring finger and little finger) and the thumb.
When the control system controls the index finger to bend, a motor connected with the index finger in the four-finger motor speed reducer 602 is controlled to be electrified, the index finger drives the bevel gear 108 to rotate, the index finger drives the bevel gear 108 to be fixed on the metacarpophalangeal joint 101, the metacarpophalangeal joint 101 rotates, the index finger fixing shaft 107 is fixed on the hand frame 606, the bevel gear eight 125 is fixed on the index finger fixing shaft 107 but not rotates, the bevel gear seven 124 meshed with the bevel gear eight 125 rotates while the metacarpophalangeal joint 101 rotates, the bevel gear one 110 is driven by the index finger shaft one 126 to rotate, the bevel gear six 122 is driven by the bevel gear six 122 to rotate, the proximal phalangeal joint 102 is driven by the bevel gear six 122 to rotate, the bevel gear three 115 is driven by the index finger shaft two 113 to rotate, the bevel gear three 115 is fixed on the upper hinge shaft two 114, and the distal phalangeal joint 103 fixed on the upper hinge shaft two 114 rotates, so that synchronous movement of the three phalangeal joints is realized.
When the control system controls the thumb 5 to bend, the thumb motor reducer 601 is controlled to be electrified, the first belt pulley 614 rotates, the belt pulley shaft 617 is driven to rotate through the synchronous belt 603, the thumb power gear 615 rotates, the thumb power gear 615 drives the thumb drive gear 506 to rotate, the thumb palm knuckle 501 is fixed by the thumb drive gear 506 and rotates, meanwhile, the thumb fixing shaft 505 is fixed on the hand frame 606, the fourth thumb gear 514 is fixed on the thumb fixing shaft 505, when the thumb palm knuckle 501 rotates, the first thumb gear 507 rotates, the second thumb gear 508 is driven to rotate by the thumb shaft 513, the second thumb gear 508 is meshed with the third thumb gear 510, the third thumb gear 510 is fixed on the lower thumb hinge shaft 511, and the distal thumb knuckle 502 fixed on the lower thumb hinge shaft 511 rotates, so that the bending and stretching of the thumb are realized.
Claims (7)
1. The utility model provides a prosthetic hand of upper limbs artificial limb, includes forefinger (1), well finger (2), ring finger (3), little finger (4), thumb (5), palm (6), forefinger (1), well finger (2), ring finger (3), little finger (4), thumb (5) set up on palm (6), forefinger (1), well finger (2), ring finger (3), little finger (4) have the same structure, its characterized in that: the index finger (1) comprises: the metacarpophalangeal joint (101), the proximal metacarpophalangeal joint (102), the distal metacarpophalangeal joint (103), the metacarpophalangeal joint (101), the proximal metacarpophalangeal joint (102) and the distal metacarpophalangeal joint (103) are of a U-shaped structure, the U-shaped opening edges face to the left side, two parallel edges or two opposite edges of the U-shaped opening edges are horizontally arranged along the front-back direction, the upper side and the lower side of the U-shaped rear end of the metacarpophalangeal joint (101) are respectively fixed at the upper end and the lower end of an index finger fixing shaft (107), an index finger driving bevel gear (108) is rotatably arranged at the upper part of the index finger fixing shaft (107), the index finger driving bevel gear (108) is fixed on the upper side edge of the metacarpophalangeal joint (101), a bevel gear eight (125) is fixed at the lower part of the index finger fixing shaft (107), the bevel gear eight (125) is meshed with a bevel gear seven (124), the seven bevel gears (124) are fixed at the rear end of the index shaft one (126), the metacarpophalangeal joint (101) is provided with a rotary support of the index shaft one (126), the bevel gear one (110) is fixed at the front end of the index shaft one (126), the bevel gear (110) is hinged with the six bevel gears (121) and the six bevel gears (121) are hinged at the lower end of the upper end of the lower joint (121) of the metacarpophalangeal joint (121) and the lower end of the metacarpophalangeal joint (121) is hinged, the rotation of the upper hinge shaft I (111) is connected with the rear end of the upper side edge of the near-end knuckle (102), the upper hinge shaft I (111) is used for fixing the front end of the upper side edge of the metacarpophalangeal joint (101) and the bevel gear II (112), the bevel gear II (112) is meshed with the bevel gear V (120), the bevel gear V (120) is fixed at the rear end of the index finger shaft II (113), the rotating support of the index finger shaft II (113) is arranged on the near-end knuckle (102), the bevel gear IV (117) is fixed at the front end of the index finger shaft II (113), the bevel gear IV (117) is meshed with the bevel gear III (115), the bevel gear III (115) is fixed on the upper hinge shaft II (114), the upper hinge shaft II (114) is used for rotating and connecting the front end of the upper side edge of the near-end knuckle (102), the rear end of the upper side edge of the far-end knuckle (103) is fixed at the hinge shaft II (114), and the rear end of the lower side edge of the far-end knuckle (103) is hinged with the front end of the lower side edge of the near-end knuckle (102) through the lower hinge shaft II (116);
the upper hinge shaft II (114) is coaxial with the lower hinge shaft II (116), and the upper hinge shaft I (111) is coaxial with the lower hinge shaft I (121);
the index finger drives the bevel gear (108), the first bevel gear (110), the second bevel gear (112), the third bevel gear (115), the fourth bevel gear (117), the fifth bevel gear (120), the sixth bevel gear (122), the seventh bevel gear (124) and the eighth bevel gear (125) to have the same modulus and the same tooth number, and are all sector bevel gears with the central angle of 120 degrees;
the palm (6) is provided with a driving mechanism for driving the bevel gear (108) by an index finger, and the index finger fixing shaft (107) is fixed on the palm;
the thumb (5) comprises: the thumb palm knuckle (501) and the thumb far-end knuckle (502), the thumb palm knuckle (501) and the thumb far-end knuckle (502) are of a U-shaped structure, the opening edges of the U-shaped structure face to the left, two parallel edges or opposite edges of the U-shaped structure are arranged along the up-down direction, the front end and the rear end of the lower end of the thumb palm knuckle (501) are respectively fixed with the front end and the rear end of a fixed shaft (505), the rear part of the thumb fixed shaft (505) is rotatably provided with a thumb driving gear (506), the thumb driving gear (506) is fixed on the rear side edge of the thumb palm knuckle (501), the front part of the thumb fixed shaft (505) is provided with a thumb gear IV (514), the thumb gear IV (514) is meshed with a thumb gear IV (507), the thumb gear IV (507) is fixed on the lower end of a thumb shaft (513), the thumb palm knuckle (501) is provided with a rotating support of the thumb shaft (513), the thumb gear II (508) is fixed on the upper end of the thumb shaft (513), the thumb gear II (508) is meshed with a gear III (510) and the front end of the thumb shaft (511) is hinged with the lower side edge of the thumb shaft (511) which is hinged, the lower end of the rear side edge of the thumb distal knuckle (502) is hinged with the upper end of the rear side edge of the thumb metacarpophalangeal knuckle (501) through a thumb upper hinge shaft (509), and the thumb upper hinge shaft (509) is coaxial with a thumb lower hinge shaft (511);
the thumb drive gear (506), the thumb gear I (507), the thumb gear II (508), the thumb gear III (510) and the thumb gear IV (514) have the same tooth number and are all sector bevel gears with a central angle of 120 degrees;
the palm (6) is provided with a driving mechanism of a thumb driving gear (506), and a thumb fixing shaft (505) is fixed on the palm (6);
the driving mechanism of the index finger driving bevel gear (108) arranged on the palm (6) has the structure that: the palm (6) comprises: the four-finger motor speed reducer (602) and the hand rest (606), wherein the front end of the hand rest (606) is provided with an index finger fixing plate (607), a middle finger fixing plate (608), a ring finger fixing plate (609) and a little finger fixing plate (610), the index finger fixing plate (607), the middle finger fixing plate (608), the ring finger fixing plate (609) and the little finger fixing plate (610) are respectively fixed on the index finger fixing shaft (107), the middle finger fixing shaft, the ring finger fixing shaft and the little finger fixing shaft, the four-finger motor speed reducers (602) are fixed on the hand rest (606), the four-finger motor speed reducers (602) are sequentially arranged from top to bottom, the output shafts are horizontally arranged along the front direction and the rear direction, each four-finger motor is fixed with a four-finger bevel gear (605), and the four-finger bevel gears (605) are respectively meshed with the index finger driving bevel gears (108), the middle finger driving bevel gears, the ring finger driving bevel gears and the little finger driving bevel gears are meshed for driving the index finger, the ring finger driving bevel gears and the extension of the index finger (1);
the driving mechanism of the thumb driving gear (506) arranged on the palm (6) has the structure that: the palm (6) also include thumb motor reducer (601), thumb power gear (615), the middle upper end of hand rest (606) be provided with thumb fixed plate (611), thumb fixed plate (611) thumb fixed axle (505), thumb motor reducer (601) is fixed on hand rest (606), the output shaft of thumb motor reducer (601) sets up along vertical direction, thumb motor reducer (601) is located the rear side of four-finger motor reducer (602), the output shaft of thumb motor reducer (601) is fixed band pulley one (614), band pulley one (614) forms the belt drive through hold-in range (603) with band pulley two (618), band pulley two (618) are fixed in the lower extreme of band pulley axle (617), band pulley axle (617) middle part rotation is installed on band pulley axle support (616), the right-hand end of band pulley axle support (616) is fixed on hand rest (606), the upper end of band pulley axle (617) is fixed thumb power gear (615), thumb power gear (615) meshes with thumb drive gear (506), band pulley one (615) is the fan-shaped of angle bevel gear (615) for the 120 degrees of heart.
2. The prosthetic hand of an upper limb prosthesis of claim 1, wherein: the four-finger bevel gear (605) is respectively meshed with the index finger driving bevel gear (108), the middle finger driving bevel gear, the ring finger driving bevel gear and the small finger driving bevel gear on the index finger (1), the bevel gear eight (125) is meshed with the bevel gear seven (124), the bevel gear one (110) is meshed with the bevel gear five (120), the bevel gear two (112) is meshed with the bevel gear five (120), the bevel gear three (115) is meshed with the bevel gear four (117), the thumb gear four (514) is meshed with the bevel gear, and the axis intersection angle of the thumb gear two (508) and the thumb gear three (510) is 90 degrees.
3. The prosthetic hand of an upper limb prosthesis of claim 1, wherein: the thumb power gear (615) and thumb drive gear (506) have an intersection angle of between 120 degrees and 135 degrees.
4. The prosthetic hand of an upper limb prosthesis of claim 1, wherein: the index finger fixing plate (607), the middle finger fixing plate (608), the ring finger fixing plate (609), the little finger fixing plate (610) and the thumb fixing plate (611) are two vertical plates extending leftwards and are identical in structure, mounting holes are formed in the two vertical plates, after the index finger fixing shaft (107) passes through the thumb metacarpal knuckle (501) forwards and backwards, the upper end and the lower end of the index finger fixing shaft are fixed in the upper mounting hole and the lower mounting hole of the middle finger fixing plate (607), the upper end and the lower end of the middle finger fixing shaft are fixed in the upper mounting hole and the lower mounting hole of the ring finger fixing plate (609), the upper end and the lower end of the ring finger fixing shaft are fixed in the upper mounting hole and the lower mounting hole of the little finger fixing plate (610), and the front end and the rear end of the thumb fixing shaft (505) are fixed in the two mounting holes of the thumb fixing plate (611).
5. The prosthetic hand of an upper limb prosthesis of claim 2, wherein: the index finger (1) also comprises a far-end guard board (104), a near-end guard board (105) and a palm-finger guard board (106), and the thumb (5) also comprises: the thumb far-end guard board (503), thumb metacarpophalangeal guard board (504), metacarpophalangeal joint (101), proximal end knuckle (102), U-shaped opening limit of distal end knuckle (103) respectively fix metacarpophalangeal guard board (106), proximal end guard board (105), distal end guard board (104), thumb metacarpophalangeal joint (501), thumb far-end knuckle (502)'s U-shaped opening limit respectively fix thumb metacarpophalangeal guard board (504), thumb far-end guard board (503).
6. Prosthetic hand for an upper limb prosthesis according to any one of claims 1-5, characterized in that: the palm (6) also comprises a palm guard plate (619) and a back guard plate (620), and the front side and the back side of the hand frame (606) are respectively fixed with the palm guard plate (619) and the back guard plate (620).
7. Prosthetic hand for an upper limb prosthesis according to any one of claims 1-5, characterized in that: the rear end of the hand rest (606) is provided with two wrist connecting plates (612) which extend backwards and are used for being connected with wrist joints.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811048805.8A CN109172060B (en) | 2018-09-10 | 2018-09-10 | Prosthetic hand of upper limb prosthetic |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811048805.8A CN109172060B (en) | 2018-09-10 | 2018-09-10 | Prosthetic hand of upper limb prosthetic |
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| CN109172060A CN109172060A (en) | 2019-01-11 |
| CN109172060B true CN109172060B (en) | 2024-01-02 |
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| CN201811048805.8A Active CN109172060B (en) | 2018-09-10 | 2018-09-10 | Prosthetic hand of upper limb prosthetic |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109674562B (en) * | 2019-01-22 | 2024-03-12 | 王宇光 | Gear train type under-actuated bionic artificial finger |
| CN111467097B (en) * | 2020-04-17 | 2022-02-22 | 苏州通和景润康复科技有限公司 | Five-degree-of-freedom intelligent prosthetic hand |
| DE102020115096A1 (en) | 2020-06-05 | 2021-12-09 | Stefan Schulz | Metacarpal for a hand prosthesis |
| CN113069252B (en) * | 2021-03-30 | 2024-02-06 | 合肥工业大学 | Umbrella tooth connecting rod configuration bionic artificial limb |
| CN113317914A (en) * | 2021-07-05 | 2021-08-31 | 苏州通和景润康复科技有限公司 | Four-degree-of-freedom intelligent prosthetic hand |
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| CN104367405A (en) * | 2014-11-21 | 2015-02-25 | 华南理工大学 | Humanoid type myoelectricity artificial hand |
| WO2017075884A1 (en) * | 2015-11-04 | 2017-05-11 | 中国科学院深圳先进技术研究院 | Prosthetic hand |
| WO2017084638A1 (en) * | 2015-11-18 | 2017-05-26 | 杭州若比邻机器人科技有限公司 | Prosthetic finger |
| CN108272537A (en) * | 2018-03-25 | 2018-07-13 | 唐山云时代网络科技有限公司 | A kind of modular multiple degrees of freedom under-actuated bionic prosthetic hand |
| CN209332387U (en) * | 2018-09-10 | 2019-09-03 | 河南翔宇医疗设备股份有限公司 | Artificial hand of upper limb artificial limb |
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2018
- 2018-09-10 CN CN201811048805.8A patent/CN109172060B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104367405A (en) * | 2014-11-21 | 2015-02-25 | 华南理工大学 | Humanoid type myoelectricity artificial hand |
| WO2017075884A1 (en) * | 2015-11-04 | 2017-05-11 | 中国科学院深圳先进技术研究院 | Prosthetic hand |
| WO2017084638A1 (en) * | 2015-11-18 | 2017-05-26 | 杭州若比邻机器人科技有限公司 | Prosthetic finger |
| CN108272537A (en) * | 2018-03-25 | 2018-07-13 | 唐山云时代网络科技有限公司 | A kind of modular multiple degrees of freedom under-actuated bionic prosthetic hand |
| CN209332387U (en) * | 2018-09-10 | 2019-09-03 | 河南翔宇医疗设备股份有限公司 | Artificial hand of upper limb artificial limb |
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Address after: 456300 Middle Section of Di'er Avenue, Neihuang County, Anyang City, Henan Province Applicant after: Xiangyu Medical Co.,Ltd. Address before: 456300 Middle Section of Di'er Avenue, Neihuang County, Anyang City, Henan Province Applicant before: ANYANG XIANGYU MEDICAL EQUIPMENT Co.,Ltd. |
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